Thesis-Hector-VR/Hector_v2/Assets/Telemax/hector_components_description/urdf/dual_hokuyo_mount.urdf.xacro.xml

<?xml version="1.0"?>
<robot
  xmlns:xacro="http://www.ros.org/wiki/xacro" name="hector_multisensor_head">
  <xacro:include filename="$(find hector_xacro_tools)/urdf/inertia_tensors.urdf.xacro"/>
  <xacro:include filename="$(find hector_sensors_description)/urdf/hokuyo_utm30lx.urdf.xacro" />

  <xacro:property name="M_PI" value="3.14159265359"/>

  <xacro:macro name="spinning_sensor_mount_macro" params="parent name scaling *origin">
<!--    <link name="${name}_link">

      <inertial>
        <mass value="0.8"/>
        <inertia ixx="0.0025" ixy="0.0" ixz="0.0001" iyy="0.0013" iyz="0.0" izz="0.0026"/>
      </inertial>

      <collision name="collision">
        <xacro:insert_block name="origin"/>
        <geometry>
          <mesh filename="package://hector_components_description/meshes/hector_multisensor_head/multisensor_head_collision.stl" scale="${scaling} ${scaling} ${scaling}"/>
        </geometry>
      </collision>
      <visual>
        <xacro:insert_block name="origin"/>
        <geometry>
          <mesh filename="package://hector_components_description/meshes/hector_multisensor_head/multisensor_head.stl" scale="${scaling} ${scaling} ${scaling}"/>
        </geometry>
      </visual>
    </link>-->
    <joint name="${name}_spin_joint_fixed" type="fixed">
      <!--<origin xyz="0.061 0.0 0.134" rpy="0 0 0"/>-->
      <xacro:insert_block name="origin"/>
      <parent link="${parent}" />
      <child link="${name}_lidar_mount_link_fixed"/>
      <axis xyz="1 0 0" rpy="0 0 0"/>
    </joint>

    <link name="${name}_lidar_mount_link_fixed">
    </link>

    <joint name="${name}_spin_joint" type="continuous">
      <!--<origin xyz="0.061 0.0 0.134" rpy="0 0 0"/>-->
      <xacro:insert_block name="origin"/>
      <parent link="${parent}" />
      <child link="${name}_lidar_mount_link" />
      <axis xyz=" 0 0 1" />
      <limit effort="1000" velocity="100" />
      <joint_properties damping="500.0" friction="200.0" />
    </joint>
    <link name="${name}_lidar_mount_link">
      <xacro:inertial_sphere_with_pose mass="0.1" diameter="0.03">
        <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
      </xacro:inertial_sphere_with_pose>

      <!-- Visualize collision cylinder
      <visual>
        <origin xyz="-0.01 0 0.01" rpy="0 ${M_PI/2} 0"/>
        <geometry>
          <cylinder radius="0.05" length="0.12" />
        </geometry>
      </visual>-->
      
      <!--       Visualize mesh data for checking LIDAR positioning-->
      <!--
      <visual>
        <origin xyz="-0.0 0 0.0" rpy="0 0 ${M_PI*0.5}"/>
        <geometry>
          <mesh filename="package://argo_tracker_description/meshes/argo_tracker_lidar_assembly.stl"/>
        </geometry>
        <material name="DarkGrey">
          <color rgba="0.3 0.3 0.3 1"/>
        </material>  
      </visual>
      -->
      
      <collision>
        <origin xyz="0.0 0 0.08" rpy="0 0 0"/>
        <geometry>
          <cylinder radius="0.1" length="0.185" />
        </geometry>
      </collision>
    </link>

    <xacro:hokuyo_utm30lx name="${name}_pitch_hokuyo_laser" parent="${name}_lidar_mount_link" ros_topic="/spin_laser/pitch_scan_gazebo" update_rate="80" ray_count="1040" min_angle="-130" max_angle="130">
      <xacro:insert_block name="pitch_lidar_calibration" />
    </xacro:hokuyo_utm30lx>
    
    <xacro:hokuyo_utm30lx name="${name}_vertical_hokuyo_laser" parent="${name}_lidar_mount_link" ros_topic="/spin_laser/vertical_scan_gazebo" update_rate="80" ray_count="1040" min_angle="-130" max_angle="130">
      <xacro:insert_block name="vertical_lidar_calibration" />
    </xacro:hokuyo_utm30lx>
    
    <xacro:joint_standard_transmission name="${name}_spin_joint"/>
    
    <gazebo reference="${name}_spin_joint">
      <implicitSpringDamper>1</implicitSpringDamper>
    </gazebo>
    
    <gazebo>
      <!-- ros_control plugin -->
      <plugin name="gazebo_ros_control_select_joints" filename="libgazebo_ros_control_select_joints.so">
        <robotNamespace>spin_lidar_control</robotNamespace>
        <joints>spin_lidar_spin_joint</joints>
      </plugin>
    </gazebo>

    <!--  <xacro:asus_camera name="${name}_cam" parent="${name}_link">
    <origin xyz="0.065 0.0 0.23" rpy="0 0 0"/>
    </xacro:asus_camera>  -->

    <!-- <gazebo reference="${name}_spinning_lidar_root_link"><material>Gazebo/Grey</material></gazebo><gazebo reference="${name}_spinning_lidar_spin_link"><material>Gazebo/Grey</material></gazebo> -->
  </xacro:macro>
</robot>